Removing shadow from franka robot arm

[AndreaCastiella]

Hi, I’m running some experiments with the Franka robot arm in Genesis and I’d like to render the scene without any shadows. When I set shadow=False in the Visualizer options, the ground shadows disappear, but the robot arm still casts shadows on itself. Is there a way to completely disable all shadows in the render?

[duburcqa]

I don't see any shadow, only non-uniform lighting, which is different.

[AndreaCastiella]

You're right. Is there a way to use only diffuse/ambient lighting in Genesis, so that the robot arm is lit uniformly without any directional highlights? I currently initialize my scene like this:

scene = gs.Scene(
    sim_options=gs.options.SimOptions(
        dt=args.dt,
        substeps=args.substeps,
    ),
    mpm_options=gs.options.MPMOptions(
        lower_bound=lower_bound,
        upper_bound=upper_bound
    ),
    vis_options=gs.options.VisOptions(
        visualize_mpm_boundary=args.visualize_mpm_boundary,
        show_world_frame=args.show_world_frame,
        shadow=False,
        background_color=(1.0, 1.0, 1.0) if args.white_background else (0.0, 0.0, 0.0), 
    ),
    show_viewer=False,
    show_FPS=False
)

[duburcqa]

You can just do this:

scene = gs.Scene(
    sim_options=gs.options.SimOptions(
        dt=args.dt,
        substeps=args.substeps,
    ),
    mpm_options=gs.options.MPMOptions(
        lower_bound=lower_bound,
        upper_bound=upper_bound
    ),
    vis_options=gs.options.VisOptions(
        visualize_mpm_boundary=args.visualize_mpm_boundary,
        show_world_frame=args.show_world_frame,
        ambient_light=(0.8, 0.8, 0.8),  # Increase intensity of ambient light
        lights=[],  # Disable default directional light.
        background_color=(1.0, 1.0, 1.0) if args.white_background else (0.0, 0.0, 0.0), 
    ),
    show_viewer=False,
    show_FPS=False
)

[AndreaCastiella]

Thank you so much!